Software Architecture

Architecture Diagram

Common Infrastructure

• Red Hat Linux (5.2, 7.2 both available)
• GCC 2.96
• Allegro Common Lisp (ACL 6.0)
• IPC (message passing)
• OpenGL (for face)
• ViaVoice (for speech recognition)
• Optional: OpenInventor (for 3D-simulator)
• Optional: TDL (for task-level control, and the Vikia face)
• Optional: Festival (for the Vikia face -- speech generation)
• Optional: Swig and Python (for the elevator riding code)

Interfaces

• Common
• Mobility
• Speech Recognition
• Face and Speech Generation
• Swarthmore Vision Module (SVM)
• Biclops Vision System (BVS)